CN109850540A - Apparatus for grouping and group technology - Google Patents
Apparatus for grouping and group technology Download PDFInfo
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- CN109850540A CN109850540A CN201910269486.1A CN201910269486A CN109850540A CN 109850540 A CN109850540 A CN 109850540A CN 201910269486 A CN201910269486 A CN 201910269486A CN 109850540 A CN109850540 A CN 109850540A
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- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 238000009825 accumulation Methods 0.000 claims abstract description 83
- 230000000007 visual effect Effects 0.000 claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000035508 accumulation Effects 0.000 description 67
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Abstract
The invention discloses apparatus for grouping and group technologies, are related to logistics equipment technical field.A kind of apparatus for grouping, the apparatus for grouping include: pipeline, for along first direction conveying articles.Mechanism is accumulated, the pipeline is installed on along the end of first direction, for backstop and accumulates cargo.Draw frame machine is arranged close to the accumulation mechanism, and for drawing cargo.Visual spatial attention mechanism, close to the pipeline be arranged, the visual spatial attention mechanism for identification it is described accumulation mechanism accumulation cargo quantity.The visual spatial attention mechanism is electrically connected with the draw frame machine, when the quantity of goods that the visual spatial attention mechanism recognizes accumulation mechanism accumulation is greater than or equal to specified quantity, controls the cargo that the draw frame machine draws specified quantity.The present invention also provides a kind of group technologies.The efficiency of cargo grouping can be improved above, improve versatility.
Description
Technical field
The present invention relates to logistics equipment technical fields, in particular to apparatus for grouping and group technology.
Background technique
In the manufacturing and logistics field, the automation and intelligence of goods sorting and conveying become research hotspot.One
In a little automatic assembly line application scenarios, need to convey upstream assembly line the unordered cargo come or cargo group by upstream device
The requirements such as quantity and direction to cargo combination sorting, i.e., sort multiple cargos once to form cargo group, and adjustment direction, with
Meet the job requirements of upstream device, improves working efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of apparatus for grouping, the efficiency for cargo grouping can be improved, structure is simple
And it is versatile.
The present invention provides a kind of technical solution:
A kind of apparatus for grouping, the apparatus for grouping include:
Pipeline, for along first direction conveying articles.
Mechanism is accumulated, the pipeline is installed on along the end of first direction, for backstop and accumulates cargo.
Draw frame machine is arranged close to the accumulation mechanism, and for drawing cargo.
Visual spatial attention mechanism is arranged close to the pipeline, the accumulation mechanism for identification, the visual spatial attention mechanism
Accumulate the quantity of cargo.
The visual spatial attention mechanism is electrically connected with the draw frame machine, when the visual spatial attention mechanism recognizes the accumulation
When the quantity of goods of mechanism accumulation is greater than or equal to specified quantity, the cargo that the draw frame machine draws specified quantity is controlled.
Further, the visual spatial attention mechanism includes controller, industrial camera and a wordline laser device.
The industrial camera and a wordline laser device are electrically connected with the controller, and are mounted on the conveying
Line.
The a wordline laser device is parallel to the laser line segment of the pipeline for projecting on the cargo.
The quantity and length of the industrial camera laser line segment for identification are to generate the quantity information, the work
Industry camera is also used to the quantity information being sent to the controller.
The controller is electrically connected with the draw frame machine, and the controller is used for when quantity information reference
When quantity is greater than or equal to specified quantity, it is close and draw cargo described in specified quantity to control the draw frame machine.
Further, the visual spatial attention mechanism includes controller and three-dimensional camera.
The three-dimensional camera and controller electrical connection, and the three-dimensional camera is installed on the pipeline.
The three-dimensional camera position of the cargo and generates location information for identification, and the three-dimensional camera is for knowing
The quantity and generation quantity information of other cargo, the three-dimensional camera are also used to send the location information and the quantity information
To the controller.
The controller is used to control the suction when the quantity that the quantity information refers to is greater than or equal to specified quantity
It takes mechanism close and draws the cargo of specified quantity.
Further, the accumulation mechanism includes driving structure and limit plate, and the driving structure is installed on the conveying
The end of line, and the driving structure is located at below the plane of the pipeline conveyor surface place, and the limit plate is installed on institute
Driving structure is stated, and is located above the driving structure, the driving structure can drive the limit plate selectively to protrude
In the pipeline.
Further, the apparatus for grouping further includes centering body, and the centering body includes that driving device and two embrace
Clamping plate, the driving device are installed on the pipeline, and clamping plate is embraced described in two and is located above the pipeline, and at least one
A clamping plate of embracing is connected to the driving device, and the driving device is for driving the clamping plate of embracing towards another armful of clamping plate
It is mobile.
Further, the centering body further includes mounting rack, and the mounting rack is installed on the pipeline.
A clamping plate is embraced described in the driving device and two and is mounted on the mounting rack, and is respectively positioned on the upper of the pipeline
Side.
The two sides that clamping plate is respectively arranged at the driving device are embraced described in two.
The driving device is located at the surface of the pipeline center line.
Further, the driving device is connected to one of them described armful of clamping plate, and the driving device is installed on
The wherein side of the pipeline.
Another described other side embraced Boards wall and be installed on the pipeline, and embrace clamping plate described in two and set relatively
It sets.
The side line for being fixedly installed in described armful of clamping plate close to the pipeline of the pipeline is arranged.Compared to existing
The beneficial effect of technology, apparatus for grouping provided by the invention is:
Apparatus for grouping provided by the invention can be by pipeline conveying articles, and pass through and accumulate what mechanism conveyed pipeline
Cargo is accumulated, and at the same time cargo can be avoided to fall by accumulating mechanism.In addition, passing through the identification accumulation of visual spatial attention mechanism
Cargo quantity, and when the quantity that visual spatial attention mechanism recognizes the cargo of accumulation mechanism accumulation is greater than or equal to specified number
When amount, visual spatial attention mechanism then controls draw frame machine and draws the cargo of specified quantity and by the goods movement of specified quantity to specified
Position.The efficiency of grouping can be then improved by the apparatus for grouping, and can be grouped and be mentioned according to the cargo for drawing specified quantity
The flexible performance of height grouping, while the versatility of apparatus for grouping can be improved.
Another object of the present invention is to provide a kind of group technology, the efficiency for cargo grouping, structure can be improved
It is simple and versatile.
The present invention provides a kind of technical solution:
A kind of group technology, the group technology include:
Conveying articles are to the accumulation mechanism.
Backstop is carried out to cargo and is accumulated.
The quantity of identification accumulation cargo, and judge to accumulate the quantity of cargo and the size of specified quantity.
When the quantity for accumulating cargo is greater than or equal to specified quantity, the cargo of specified quantity is drawn to designated position.
Further, the step of quantity of the identification accumulation cargo includes:
Laser rays is projected on one of surface of accumulation cargo, to form laser line segment on the surface of each cargo.
Identify the quantity and length of laser line segment, and the number of the quantity and length computation accumulation cargo according to laser line segment
Amount.
Further, the step of quantity of the identification accumulation cargo includes:
The image information of shooting accumulation cargo.
The quantity of accumulation cargo is calculated according to image information.
Compared with prior art, the apparatus for grouping of the beneficial effect of group technology provided by the invention and above-mentioned offer relative to
The beneficial effect of the prior art is identical, and details are not described herein.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the apparatus for grouping that the first embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram for the apparatus for grouping part that the first embodiment of the present invention provides；
Fig. 3 is the enlarged structure schematic diagram in Fig. 1 at III；
Fig. 4 is the structural schematic diagram for the apparatus for grouping that the second embodiment of the present invention provides.
Icon: 10- apparatus for grouping；100- pipeline；200- centering body；210- driving device；220- embraces clamping plate；230-
Mounting rack；300- accumulates mechanism；310- driving structure；320- limit plate；400- draw frame machine；410- motion platform；411- is held
Carrier；412- sliding rail；The first sliding rail of 413-；The second sliding rail of 414-；420- draws structure；500- output line；600- visual spatial attention
Mechanism；610- industrial camera；620- a wordline laser device.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " on ", "lower", "inner", "outside", "left", "right" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
With reference to the accompanying drawing, detailed description of the preferred embodiments.
First embodiment
Referring to Fig. 1, providing a kind of apparatus for grouping 10 in the present embodiment, it is used to be grouped multiple cargos, that is,
Multiple cargos are whole according to certain rule row, for example, three cargos in the horizontal direction overlapped mode arrange it is whole.This implementation
The apparatus for grouping 10 provided in example can improve the grouping efficiency for cargo, and 10 structure of apparatus for grouping is simple, versatility
By force.
Fig. 1 and Fig. 2 are please referred to, apparatus for grouping 10 includes pipeline 100, centering body 200, accumulation mechanism 300, inhales
Take mechanism 400, output line 500 and visual spatial attention mechanism 600.Wherein, pipeline 100 is used to carry out transportation work to cargo.It is right
Middle mechanism 200 and accumulation mechanism 300 are all set on pipeline 100, and by centering body 200 and accumulate mechanism 300
Collective effect can complete work whole for the row of cargo.Draw frame machine 400 is arranged close to accumulation mechanism 300, and close simultaneously
Pipeline 100 is arranged, and draw frame machine 400 is used to draw the cargo that accumulation mechanism 300 is accumulated.Output line 500 is close to described defeated
Line sending 100 is arranged, and is arranged and at the same time also proximating in draw frame machine 400, in order to which draw frame machine 400 places the cargo of absorption
In on output line 500.Visual spatial attention mechanism 600 is installed on pipeline 100, and is electrically connected with draw frame machine 400, visual spatial attention
Mechanism 600 is used to obtain the location information and quantity information of cargo, and location information and quantity information control according to cargo
The cargo of the absorption specified quantity of draw frame machine 400.
Specifically, in the present embodiment, pipeline 100 extends in a first direction, and at the same time pipeline 100 is along first party
To conveying articles.Wherein, multiple cargos are placed on pipeline 100, and are moved along first direction.It should be noted that at this
In embodiment, pipeline 100 has a conveyor surface (figure is not marked), and conveyor surface is for carrying simultaneously conveying articles.
It should be noted that multiple cargos on conveyor surface are conveyed with Board Lot, that is, be placed in by cargo
When on conveyor surface, the cargo placed each time forms a unit, and the quantity of the cargo of each unit can may be for 1
It is multiple, such as 2 or 3 etc..
Centering body 200 includes that driving device 210 and two embrace clamping plate 220.Driving device 210 is installed on pipeline 100
On.It embraces clamping plate 220 for two and is located at 100 top of pipeline, and at least one is embraced clamping plate 220 and is connected to driving device 210, i.e., extremely
Clamping plate 220 is embraced for few one to drive by driving device 210.Driving device 210 embraces clamping plate 220 towards another armful of folder for driving
Plate 220 is mobile.That is, driving device 210 can drive at least one armful of clamping plate 220 mobile and make two to embrace between clamping plate 220
Distance Shortened, and then embraced two and realize that embracing clamping plate 220 for two clamps multiple cargos by way of clamping plate 220 is mutually shifted, just
Cargo can be carried out arranging whole operation, arrange the cargo proper alignment after haveing suffered, it is defeated to can guarantee that cargo can be carried out according to scheduled form
It send.
In the present embodiment, centering body 200 further includes mounting rack 230, and mounting rack 230 is installed on pipeline 100, and
And mounting rack 230 is located at the top of pipeline 100.It should be noted that wherein, pipeline 100 has frame, mounting rack 230
It is then fixedly installed on frame, to guarantee the stabilization of mounting rack 230.Driving device 210 and an armful clamping plate 220 are mounted on mounting rack
On 230, stable supporting role is provided to embrace clamping plate 220 to driving device 210 and two by mounting rack 230.Further
Ground, in the present embodiment, installation is embraced clamping plate 220 for two and is then connected respectively by screw rod transmission there are two screw rod in driving device 210
It is connected to driving device 210, driving device 210 can drive two armfuls of clamping plates 220 close to each other simultaneously, i.e., driving device 210 is being transported
When under row state, two armfuls of clamping plates 220 are mobile and close to each other simultaneously.Wherein, two embrace clamping plate 220 extending direction with
First direction is identical, in order to two embrace clamping plates 220 to cargo carry out embrace folder row it is whole.
Realize that two are embraced folder in such a way that driving device 210 drives screw rod to rotate and drives two to embrace the movement of clamping plate 220
Plate 220 is close to each other, and by close to each other two embrace clamping plates 220 clamp be moved to two embrace clamping plates 220 between it is multiple
Cargo just can embrace multiple cargos between clamping plate 220 to two and carry out arranging whole operation.
It should be noted that in the present embodiment, two screw rods are respectively arranged in the opposite two sides of driving device 210, and
And the same length of two screw rods, so that, when driving device 210 drives two screw rods close to each other, two can be made
A armful of clamping plate 220 is mobile simultaneously towards driving device 210, and then is able to achieve two purposes for embracing the whole cargo of 220 row of clamping plate.
Further, in the present embodiment, driving device 210 is located at the surface of the center line of pipeline 100, that is, embraces folder
When the whole multiple cargos side by side close to each other of plate 220, it can to arrange the center line that the cargo after whole completion is located at pipeline 100
On, in order to which the cargo of 400 pairs of the draw frame machine whole completions of row is drawn.
In addition, it is necessary to explanation, in the present embodiment, when the driving of driving device 210 embrace clamping plate it is mobile and to cargo into
When row arranges whole work, pipeline 100 stops conveying at this time.Also, two are being driven to embrace clamping plate 220 mutually when driving device 210
It is separate and be moved to two embrace clamping plates 220 between have sufficiently wide width when, pipeline 100 continues to convey.
It should be noted that in other embodiments, the setting of centering body 200 can also be cancelled, for example, when cargo is put
It can complete to place according to same form when being placed on pipeline 100, so that the arrangement of multiple cargos is as neat, at this time i.e. not
Need centering body 200.
Accumulation mechanism 300 is installed on pipeline 100, and is accumulated mechanism 300 and be located on pipeline 100 along first direction
On end.Wherein, accumulation mechanism 300 can selectively protrude from conveyor surface, so that can be by accumulation mechanism 300 to cargo
It is accumulated, so that sufficient amount of cargo can be accumulated, and then meets the quantity required of cargo, meanwhile, accumulation mechanism 300 is also
Cargo can be limited and be detached from pipeline 100, avoid being scattered for cargo.
Wherein, accumulation mechanism 300 includes driving structure 310 and limit plate 320, and driving structure 310 is installed on pipeline 100
End, wherein pipeline 100 end refer to, end of the pipeline 100 on first direction.And driving structure
310 are located at the lower section of the conveyor surface place plane of pipeline 100, that is, in the present embodiment, driving structure 310 is non-bulging in defeated
Outlet 500 influences the conveying of cargo to avoid driving structure 310.Limit plate 320 is installed on driving structure 310, driving structure
310 can drive limit plate 320 to move up and down, and then can realize in such a way that driving structure 310 drives limit plate 320 mobile tired
Product mechanism 300 selectively protrudes from pipeline 100.
That is, driving limit plate 320 to protrude from conveyor surface in the present embodiment, it is possible to pass through driving structure 310, just can lead at this time
It crosses limit plate 320 and cumulative function and backstop action is carried out to cargo.
Draw frame machine 400 is then arranged close to accumulation mechanism 300, i.e., draw frame machine 400 is set to pipeline 100 along first party
Upward end, and draw frame machine 400 is used to draw the cargo on pipeline 100.
In the present embodiment, draw frame machine 400 includes motion platform 410 and absorption structure 420, wherein motion platform 410
It is arranged close to pipeline 100, draws structure 420 and be installed on motion platform 410, and draw structure 420 to draw cargo simultaneously
It is mobile relative to motion platform 410, so that cargo can be placed on output line 500.
Specifically, in the present embodiment, motion platform 410 includes carrier 411 and the sliding rail extended in a first direction
412, sliding rail 412 is installed on carrier 411, and sliding rail 412 corresponds to the center line setting of pipeline 100.Draw structure
420 are slidably connected on sliding rail 412.It draws and is additionally provided with driving assembly in structure 420, driving assembly can drive absorption structure
420 move up and down in order to draw structure 420 and the cargo drawn is driven to move up and down, and at the same time driving assembly can also drive suction
Structure 420 is taken to move along sliding rail 412, so that can pass through absorption structure 420 will be on goods movement to output line 500.It needs
It is bright, due to sliding rail 412 correspond to pipeline 100 center line be arranged so that when two embrace clamping plates 220 cargo is arranged it is whole
When on the center line of pipeline 100, the absorption structure 420 being installed on sliding rail 412 just can draw cargo.
That is, when goods movement to accumulation mechanism 300 and after complete accumulation to reach enough quantity, driving assembly at this time
Driving is drawn structure 420 and is moved down to draw the cargo of specified quantity, then will draw the cargo completed and lifts, then passes through driving
Component drives absorption structure 420 to move along sliding rail 412, goods movement can be driven to output line 500 so that drawing structure 420
On.After cargo is placed on output line 500, draws structure 420 and decontrol cargo, driving assembly, which moves up, draws structure 420 and band
Dynamic structure 420 of drawing moves back to 100 top of pipeline, in order to carry out absorption work next time.
In addition, in the present embodiment, drawing structure 420 and using sucker structure, to be drawn to cargo.It should be appreciated that
In other embodiments, draw structure 420 can also be configured according to actual demand, for example, when need to metal product into
It, can be using magnetic absorption structure 420, such as electromagnetism suction means etc. when row row is whole.Alternatively, it is also possible to be inhaled using vacuum type
Take structure 420.
Output line 500 is set to pipeline 100 along one end of first direction, and output line 500 and pipeline 100 are spaced
Setting.Cargo can be placed on output line 500 by draw frame machine 400 after drawing cargo, to pass through output line 500 for goods
Object is delivered to specified position.
It should be appreciated that in other embodiments, the setting of output line 500 can also be cancelled.For example, draw frame machine can be passed through
400 are directly placed in cargo specified position after drawing cargo.
In addition, please referring to Fig. 1 and Fig. 3, visual spatial attention mechanism 600 is installed on pipeline 100, and visual spatial attention machine
Structure 600 can be used to obtain the location information and quantity information of cargo on pipeline 100.Visual spatial attention mechanism 600 and draw frame machine
400 electrical connections, so that visual spatial attention mechanism 600 can carry out cargo according to the location information control draw frame machine 400 obtained
Draw operation.Meanwhile visual spatial attention mechanism 600 can identify the quantity for the cargo that accumulation mechanism 300 is accumulated, and the goods according to accumulation
The quantity generation quantity information of object, and when the quantity of goods for accumulating the accumulation of mechanism 300 is greater than or equal to specified quantity, pass through
Visual spatial attention mechanism 600 controls the cargo that draw frame machine 400 draws specified quantity.
In the present embodiment, on off controller (not shown) is additionally provided on pipeline 100, on off controller and driving fill
210 electrical connections are set, and on off controller is also electrically connected with pipeline 100.On off controller is right for controlling driving device 210
It embraces clamping plate 220 for two to be driven, while on off controller is also used to the start and stop of pipeline 100.Wherein, on pipeline 100
When cargo is delivered between two armfuls of clamping plates 220, on off controller controls pipeline 100 and stops conveying, and then control drives dress
It sets 210 driving two armfuls of clamping plates 220 cargo is carried out to embrace folder, to realize the centering of cargo.It should be noted that can be by setting
It sets photoelectric sensor to identify cargo, i.e., embraces the corresponding position of clamping plate 220 on pipeline 100 and photoelectric sensor is set,
When cargo, which is delivered to two, to be embraced between clamping plate 220, photoelectric sensor detects cargo, and sends the signal to start-up and shut-down control
Device controls driving device 210 and pipeline 100 by off controller, it should be understood that can also use infrared ray
The other sensors such as sensor are detected to whether the cargo on pipeline 100 enters between two armfuls of clamping plates 220.
Further, in the present embodiment, visual spatial attention mechanism 600 includes controller (not shown), 610 and of industrial camera
A wordline laser device 620, wherein industrial camera 610 and the setting of a wordline laser device 620 are installed on pipeline 100, specifically
Ground, industrial camera 610 and a wordline laser device 620 are installed on the frame of pipeline 100, also, in the present embodiment, industry
Camera 610 is located at the underface of a wordline laser device 620.Wherein, a wordline laser device 620 is parallel to for projecting on cargo
The laser line segment of pipeline 100, it should be noted that a wordline laser device 620 is for projecting a laser rays, the laser rays
When being incident upon the surface of multiple cargos, laser line segment can be formed on the surface of cargo, the total length of the laser line segment with it is right
Answer the overall width of multiple cargos identical.Industrial camera 610 is then for detecting the position of cargo and generating location information, while industry
Camera 610 is also used to detect the quantity and length and generation quantity information of laser line segment.
In addition, industrial camera 610 and a wordline laser device 620 are electrically connected with the controller, controller can control a wordline
Laser 620 projects laser on cargo.Location information and quantity information can be sent to controller by industrial camera 610.At this
In embodiment, controller can be moved at the cargo of accumulation the absorption for carrying out cargo according to location information control draw frame machine 400.
In addition, controller can judge the quantity for the cargo that quantity information is referred to and the size of specified quantity, and work as quantity information institute
When the quantity of reference is greater than or equal to specified quantity, controller controls the cargo that draw frame machine 400 draws specified quantity.And then energy
The grouping for cargo is efficiently controlled, grouping efficiency is improved.
It is illustrated below, illustrate so that the Board Lot of conveying articles is three as an example.That is, pipeline 100 is with three goods
Object is that a unit is conveyed, and when three cargos of a unit, which are delivered to two, to be embraced between clamping plate 220, stops pipeline
100 conveying, and control two simultaneously and embrace clamping plate 220 and embrace to press from both sides and need to arrange whole cargo, so that cargo marshalling, in order to goods
The accumulation of object.After completing in, pipeline 100 continues conveying articles, and cargo is delivered at accumulation mechanism 300, with
By accumulation 300 backstop of mechanism and accumulate cargo.If that is, specified quantity is four at this point, now needing four cargos.When a list
It is three cargos that the cargo of position, which is accumulated when accumulating mechanism 300, and draw frame machine 400 is not drawn cargo at this time, when another
When accumulating at mechanism 300, the quantity for the cargo accumulated at this time is six, visual spatial attention mechanism 600 for the cargo accumulation of a unit
The judgement control draw frame machine 400 that the quantity for the cargo then accumulated according to accumulation mechanism 300 is greater than specified quantity draws four goods
Object.At this point, being left two cargos, the quantity for the cargo that judgement accumulation mechanism 300, visual spatial attention mechanism 600 is accumulated is less than specified number
Amount, draw frame machine 400 is then drawn without second at this time, when the cargo accumulation of third unit makes at accumulation mechanism 300
The quantity of goods that must be accumulated is five, and the cargo of the accumulation of the judgement of visual spatial attention mechanism 600 at this time is greater than specified quantity and control
The cargo of the absorption specified quantity of draw frame machine 400.Subsequent grouping work and so on.
Specified number it should be noted that specified quantity can be modified according to actual demand, and when grabbing every time
Amount can also be different, for example, this time crawl operation needs to grab three cargos, then specified quantity is then three, if this time grabbing
It is taken as industry and needs to grab five cargos, then specified quantity is five etc..In addition, specified quantity, which can be, is manually entered into control
Device judges the quantity of accumulation cargo and the size of specified quantity in order to controller, so that controller can be drawn convenient for control
The cargo of the absorption specified quantity of mechanism 400；Alternatively, specified quantity can also be known by device for visual identification (not shown)
Not, i.e., the quantity of cargo is needed at this time by device for visual identification identification, for example, cargo, which is grouped in the stack to be formed, forms sky
It lacks, which is identified by device for visual identification, identify that the vacancy needs how many cargo to be filled up, need the quantity of cargo i.e.
Specified quantity for specified quantity, and device for visual identification energy foundation identification generates prearranged signals and is sent to prearranged signals
Visual spatial attention mechanism 600, the specified quantity that visual spatial attention mechanism 600 just can be made to refer to according to prearranged signals and accumulation mechanism
The quantity of the cargo of 300 accumulations compares, and controls draw frame machine 400 convenient for visual spatial attention mechanism 600 and draw specified quantity
Cargo etc..
The apparatus for grouping 10 provided in the present embodiment can be by 100 conveying articles of pipeline, and passing through accumulation mechanism 300 will
The cargo that pipeline 100 conveys is accumulated, and at the same time cargo can be avoided to fall by accumulating mechanism 300.In addition, passing through view
Feel the quantity of the cargo of the identification accumulation of control mechanism 600, and is accumulated when visual spatial attention mechanism 600 recognizes accumulation mechanism 300
Cargo quantity be greater than or equal to specified quantity when, visual spatial attention mechanism 600 then control draw frame machine 400 draw specified quantity
Cargo and by the goods movement of specified quantity to designated position.The efficiency of grouping can be then improved by the apparatus for grouping 10, and
And the flexible performance for improving grouping can be grouped according to the cargo for drawing specified quantity, while the general of apparatus for grouping can be improved
Property.
Second embodiment
Referring to Fig. 4, providing a kind of apparatus for grouping 10 in the present embodiment, the efficiency for cargo grouping can be improved,
Structure is simple and versatile.
The difference of the apparatus for grouping 10 provided in the apparatus for grouping 10 and first embodiment provided in the present embodiment is, right
The structure difference of middle mechanism 200 and the set-up mode of motion platform 410 are different.
In the present embodiment, one of them is embraced clamping plate 220 and connect with driving device 210, i.e., driving device 210 only drives it
In one to embrace clamping plate 220 mobile.Another embraces the frame that clamping plate 220 is then fixedly connected on pipeline 100.
Specifically, in the present embodiment, one of them embraces the frame that clamping plate 220 is fixedly connected on pipeline 100, and should
Embrace the top that clamping plate 220 is located at pipeline 100.Driving device 210 is then installed on the frame of 100 other side of pipeline, another
Clamping plate 220 is embraced to be connected to driving device 210 and be located at the top of pipeline 100.At this point, driving device 210, which can drive, embraces clamping plate
220 is mobile towards armful clamping plate 220 for being fixedly connected on 100 frame of pipeline, whole for the row of cargo to complete.Wherein, two
Embrace clamping plate 220 be oppositely arranged, in order to two embrace clamping plates 220 cargo arrange it is whole.And, wherein it is fixedly connected on conveying
The clamping plate 220 of embracing of 100 frame of line is arranged close to the side of pipeline 100.Two are embraced the extending direction of clamping plate 220 with first
Direction is identical, in order to two embrace clamping plates 220 to cargo carry out embrace folder row it is whole.
In the present embodiment, motion platform 410 includes carrier 411, the first sliding rail 413 extended in a first direction and edge
The second sliding rail 414 that second direction extends.Wherein second direction is perpendicular to first direction.Wherein, it draws structure 420 and passes through driving
Component is installed on the second sliding rail 414, also, driving structure 310 can draw structure 420 to drive and move up and down and slide along second
Rail 414 is mobile.In addition, in the present embodiment, the motor for driving the second sliding rail 414 is additionally provided on carrier 411, so that
Obtaining the second sliding rail 414 can move along the first sliding rail 413.And then cargo is drawn convenient for drawing structure 420, and convenient for drawing structure
Cargo is placed in output line 500 by 420.
3rd embodiment
A kind of group technology is provided in the present embodiment, is used to for multiple cargos being grouped.It should be noted that this
The group technology provided in embodiment can apply to the apparatus for grouping 10 provided in first embodiment or second embodiment.
Group technology includes:
S101, conveying articles to accumulation mechanism 300.
That is, being delivered to accumulation mechanism 300 by 100 conveying articles of pipeline, and by cargo.
S102, backstop is carried out to cargo and is accumulated.
After cargo is delivered to accumulation mechanism 300 by pipeline 100, due to accumulation, mechanism 300 protrudes from conveyor surface, just
Can be gone forward side by side the accumulation of crudely-made articles object by accumulation 300 backstop cargo of mechanism.
The quantity of S103, identification accumulation cargo, and judge to accumulate the quantity of cargo and the size of specified quantity.
Wherein, it identifies that the quantity of cargo is accumulated by accumulation mechanism 300 by visual spatial attention mechanism 600, and passes through visual spatial attention
The quantity of cargo and the size of specified quantity are accumulated by judgement accumulation mechanism 300, mechanism 600.
Further, in the present embodiment, step S103 includes:
S1031, projection laser are on the surface of accumulation cargo, to form laser line segment on the surface of each cargo.
That is, in the present embodiment, linear a wordline laser is emitted by a wordline laser device 620, linear one
Wordline laser forms laser line segment in the cargo surfaces of accumulation.
S1032, the quantity and length for identifying laser line segment, and quantity and length computation accumulation cargo according to laser line segment
Quantity.
That is, the quantity and length of the laser line segment that can be formed by the identification of industrial camera 610 in accumulation cargo surfaces, and lead to
Cross the quantity of the quantity of laser rays section and the cargo of length computation accumulation.
It should be noted that when visual spatial attention mechanism 600 includes controller, industrial camera 610 and a wordline laser line 620
When adopt carry out in manner just described accumulation quantity of goods calculating.In other embodiments, for example, working as visual spatial attention mechanism 600
Including controller and when three-dimensional camera, step S103 then includes:
The image information of S1033, shooting accumulation cargo.
That is, shooting the image information of accumulation cargo by three-dimensional camera, wherein image information can be photographic intelligence, can also
To be video information；Meanwhile three-dimensional camera is also used to the image information of shooting being sent to controller.
S1034, the quantity that accumulation cargo is calculated according to image information.
That is, can then identify accumulation cargo according to image information when controller receives the image information of three-dimensional camera shooting
Quantity.
In addition, controller then judges to accumulate the quantity of cargo and refer to after completing for the identification work for accumulating cargo
Size relation between fixed number amount.
S104, when the quantity for accumulating cargo is greater than or equal to specified quantity, draw the cargo of specified quantity to specific bit
It sets.
Wherein, it is specified when the quantity that visual spatial attention mechanism 600 recognizes the cargo that accumulation mechanism 300 is accumulated is greater than or equal to
When quantity, just control the cargo that draw frame machine 400 draws specified quantity, and by draw frame machine 400 by goods movement to specified
Position, the grouping operation of cargo can be completed.
Fourth embodiment
A kind of cargo grouping system (not shown) is provided in the present embodiment, which, which uses first, implements
The apparatus for grouping 10 provided in the apparatus for grouping 10 or second embodiment provided in example.And the cargo grouping system can improve
For the efficiency of cargo grouping, structure is simple and versatile.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of apparatus for grouping, which is characterized in that the apparatus for grouping includes:
Pipeline, for along first direction conveying articles；
Mechanism is accumulated, the pipeline is installed on along the end of first direction, for backstop and accumulates cargo；
Draw frame machine is arranged close to the accumulation mechanism, and for drawing cargo；
Visual spatial attention mechanism is arranged close to the pipeline, the visual spatial attention mechanism accumulation mechanism accumulation for identification
The quantity of cargo；
The visual spatial attention mechanism is electrically connected with the draw frame machine, when the visual spatial attention mechanism recognizes the accumulation mechanism
When the quantity of goods of accumulation is greater than or equal to specified quantity, the cargo that the draw frame machine draws specified quantity is controlled.
2. apparatus for grouping according to claim 1, which is characterized in that the visual spatial attention mechanism includes controller, industry
Camera and a wordline laser device；
The industrial camera and a wordline laser device are electrically connected with the controller, and are mounted on the pipeline；
The a wordline laser device is parallel to the laser line segment of the pipeline for projecting on the cargo；
The quantity and length of the industrial camera laser line segment for identification are with generation quantity information, and the industrial camera is also
For the quantity information to be sent to the controller；
The controller is electrically connected with the draw frame machine, and the controller is used for the quantity when the quantity information refers to
When more than or equal to specified quantity, it is close and draw cargo described in specified quantity to control the draw frame machine.
3. apparatus for grouping according to claim 1, which is characterized in that the visual spatial attention mechanism includes controller and three-dimensional
Camera；
The three-dimensional camera and controller electrical connection, and the three-dimensional camera is installed on the pipeline；
The three-dimensional camera position of the cargo and generates location information for identification, and three-dimensional camera goods for identification
The quantity and generation quantity information of object, the three-dimensional camera are also used to the location information and the quantity information being sent to institute
State controller；
The controller is used to control the suction machine when the quantity that the quantity information refers to is greater than or equal to specified quantity
Structure is close and draws the cargo of specified quantity.
4. apparatus for grouping according to claim 1, which is characterized in that the accumulation mechanism includes driving structure and limit
Plate, the driving structure is installed on the end of the pipeline, and the driving structure is located at the pipeline conveyor surface institute
Below plane, the limit plate is installed on the driving structure, and is located above the driving structure, the driving structure
The limit plate can be driven selectively to protrude from the pipeline.
5. apparatus for grouping according to claim 1, which is characterized in that the apparatus for grouping further includes centering body, described
Centering body includes that driving device and two embrace clamping plate, and the driving device is installed on the pipeline, and clamping plate is embraced described in two
Above the pipeline, and at least one described clamping plate of embracing is connected to the driving device, and the driving device is used for
The driving clamping plate of embracing is towards another armful of clamping plate movement.
6. apparatus for grouping according to claim 5, which is characterized in that the centering body further includes mounting rack, the peace
It shelves and is installed on the pipeline；
A clamping plate is embraced described in the driving device and two and is mounted on the mounting rack, and is respectively positioned on the top of the pipeline；
The two sides that clamping plate is respectively arranged at the driving device are embraced described in two；
The driving device is located at the surface of the pipeline center line.
7. apparatus for grouping according to claim 5, which is characterized in that the driving device is connected to one of them described armful
Clamping plate, and the driving device is installed on the wherein side of the pipeline；
Another described other side embraced Boards wall and be installed on the pipeline, and embrace clamping plate described in two and be oppositely arranged；
The side line for being fixedly installed in described armful of clamping plate close to the pipeline of the pipeline is arranged.
8. a kind of group technology, which is characterized in that the group technology includes:
Conveying articles are to accumulating mechanism；
Backstop is carried out to cargo and is accumulated；
The quantity of identification accumulation cargo, and judge to accumulate the quantity of cargo and the size of specified quantity；
When the quantity for accumulating cargo is greater than or equal to specified quantity, the cargo of specified quantity is drawn to designated position.
9. group technology according to claim 8, which is characterized in that the step of quantity of cargo is accumulated in the identification is wrapped
It includes:
Laser rays is projected on one of surface of accumulation cargo, to form laser line segment on the surface of each cargo；
Identify the quantity and length of laser line segment, and the quantity of the quantity and length computation accumulation cargo according to laser line segment.
10. group technology according to claim 8, which is characterized in that the step of quantity of cargo is accumulated in the identification is wrapped
It includes:
The image information of shooting accumulation cargo；
The quantity of accumulation cargo is calculated according to image information.
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| CN201910269486.1A CN109850540A (en) | 2019-04-03 | 2019-04-03 | Apparatus for grouping and group technology |
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| CN113942827A (en) * | 2021-10-23 | 2022-01-18 | 绍兴微拓云机械有限公司 | Automatic grabbing and feeding machine for integrated rock wool sandwich plate and control process of automatic grabbing and feeding machine |
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Address after: 230000 No. 66, Yulan Avenue, Taohua Industrial Park Development Zone, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Taihe Intelligent Technology Group Co.,Ltd. Address before: 230000 intersection of Fangxing Avenue and Yulan Avenue, Taohua Industrial Park, Hefei Economic and Technological Development Zone, Anhui Province Applicant before: HEFEI TAIHE OPTOELECTRONIC TECHNOLOGY Co.,Ltd. |